CN210625495U

CN210625495U - Explosive removing equipment

Info

Publication number: CN210625495U
Application number: CN201921748481.9U
Authority: CN
Inventors: 曹曾伟
Original assignee: Shenzhen Security Electronic Equipment Co ltd
Current assignee: Shenzhen Security Electronic Equipment Co ltd
Priority date: 2019-10-16
Filing date: 2019-10-16
Publication date: 2020-05-26
Anticipated expiration: 2029-10-16

Abstract

The utility model discloses an explosion-removing device, which is a walking device; the X-ray generator is arranged at the front end of the walking device; the detector is arranged on an X-ray emission path of the X-ray generator; the projection device is arranged at the front end of the walking device; the imaging device is arranged at the front end of the walking device; the data transmission module is in communication connection with the X-ray generator, the detector, the projection device and the imaging device; the central control module is in communication connection with the data transmission module and is used for real-time displaying the image information inside the target object and the projected image information reflected back by the target object; the central control module comprises an image database for recording dangerous goods and calibration positions corresponding to the effective measurement ranges of the projection device and the imaging device. The utility model discloses can detect dangerous goods's inside to can learn specific overall dimension, improve and carry work efficiency.

Description

Explosive removing equipment

Technical Field

The utility model belongs to the technical field of the security protection, specifically speaking relates to an arrange and explode equipment.

Background

In recent years, the investment of China in the security field is more and more, and the security level of public places is higher and higher. At present, non-contact security inspection equipment of an X-ray security inspection technology is the most widely applied tool and is widely applied to the field of logistics, transportation hubs and public places with more intensive personnel. X-rays are electromagnetic waves that can penetrate opaque objects such as wood, cardboard, leather, etc. When an X-ray beam emitted by the X-ray source passes through a detected object on the conveyor belt, part of the X-ray beam can be absorbed, and the X-ray security inspection instrument can present images with different colors on the screen according to the absorption degree of the object to the X-ray so as to be identified and judged by a security inspection operator. The development of X-ray security check equipment is mature at present, the security check equipment which is mainstream in the market is dual-energy X-ray security check equipment, the transmission image of an object to be detected can be displayed, the atomic number or equivalent atomic number of the object in the image can be obtained, various organic matters, inorganic matters and mixtures are effectively marked by different colors, the attribute of the object is further enabled to be more visual, and the visual identification difficulty is effectively reduced.

Chinese patent application No. cn20161909. x discloses an inspection robot under a dangerous environment. The device comprises a crawler travelling device, an industrial control device, a cradle head device, a six-degree-of-freedom mechanical arm device, a gas detection device and a wind speed detection device, wherein the cradle head device is a lifting explosion-proof cradle head device or an infrared explosion-proof cradle head device; the crawler traveling device comprises a ship-shaped floating plate type shell, a crawler tensioning device, an explosion-proof control box and a direct drive device; the crawler tensioning devices are positioned on two sides of the ship-shaped floating plate type shell, and the direct-drive devices are fixed in the ship-shaped floating plate type shell and drive the crawler tensioning devices to move; the explosion-proof control box is fixed in the ship-shaped floating plate type shell and is respectively connected with the direct-drive device, the gas detection device, the industrial personal computer device, the cloud platform device, the six-degree-of-freedom mechanical arm device and the wind speed detection device.

Although the prior art mentioned above proposes a device for identifying dangerous goods, it is impossible to identify the goods inside the dangerous object and also the specific size of the dangerous object, so that the operator can do the corresponding accurate operation.

In view of this, the present invention is provided.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model lies in overcoming the not enough of prior art, provides one kind and can overcome above-mentioned problem or solve the row of above-mentioned problem to explode equipment at least partially.

In order to solve the technical problem, the utility model adopts the following basic concept: an explosion-eliminating equipment comprises

A traveling device;

the X-ray generator is arranged at the front end of the walking device;

the detector is arranged on an X-ray emission path of the X-ray generator;

the projection device is arranged at the front end of the walking device and used for projecting a projection image to a target object;

the imaging device is arranged at the front end of the walking device and used for receiving a projection image reflected by the target object;

the data transmission module is in communication connection with the X-ray generator, the detector, the projection device and the imaging device;

the central control module is in communication connection with the data transmission module and is used for receiving image information inside the target object transmitted by the data transmission module and processed by the detector in real time and receiving projection image information reflected by the target object and received by the imaging device;

the central control module comprises an image database for recording dangerous goods and calibration positions corresponding to the effective measurement ranges of the projection device and the imaging device.

Furthermore, the calibration positions comprise at least

A position parameter of the target object within an effective measurement range;

and measuring parameters for measuring the three-dimensional shape of the target object.

Meanwhile, the projection image projected to the target object by the projection device is a structured light pattern used for carrying out three-dimensional topography measurement on the target object.

And, the running gear includes

A vehicle body provided as a main body of the traveling device;

the wheel bodies are symmetrically arranged on two sides of the vehicle body;

and the crawler belts are symmetrically arranged on the outer sides of the wheel bodies on two sides of the vehicle body.

Furthermore, the wheel bodies are rubber tires which are symmetrically arranged on two sides of the vehicle body and have the same size.

Further, the crawler belt is a rubber belt arranged on the outer side of the wheel body.

The use method of any one of the explosion removing equipment comprises the following steps

S1, moving the explosion-removing equipment to an effective measurement range of the projection device and the imaging device through the walking device;

s2, the projection device projects the projection image to the target object, and an image of the projection image reflected by the target object is obtained at an imaging position on the imaging device;

s3, the central control module compares the imaging position with the calibration position, and adjusts the distance between the explosive ordnance disposal device and the target object through a walking device until the imaging position is aligned with the calibration position;

s4, the central control module calls the measurement parameters and the position parameters to measure the three-dimensional shape of the target object;

s5, acquiring image information inside the target object through the X-ray generator and the detector;

s6, the data transmission module transmits the image information to the central control module, the central control module compares the image information with the image database, and when the matching is successful, the image information which is successfully matched is marked;

and S7, coupling the three-dimensional topography characteristic of the target object with the marked image information to obtain the internal parameter of the target object.

Further, the three-dimensional topography measurement performed on the target object in step S4 includes measurement of specific position coordinates of the target object and external dimensions and topography of the target object.

Further, between the step S5 and the step S6, a step of

And S51, classifying the image information of the target object based on an image color threshold, and segmenting the classified image information based on an edge extraction algorithm to realize the extraction of the target object.

Further, the method also comprises the steps of adjusting the angle between the explosive ordnance disposal device and the target object or the shooting direction, and re-executing the steps S1 to S7.

After the technical scheme is adopted, compared with the prior art, the utility model following beneficial effect has: an arrange and explode equipment, through setting up X ray generator, realized the collection to dangerous target internal image information, projection arrangement and image device have been set up simultaneously, and the mark position that corresponds effective working range, transfer through the information to the mark position, obtain the position parameter of dangerous target, and the measurement parameter after the measurement, through the position parameter of image information and dangerous target, the coupling of measurement parameter, the acquisition to the scanning of dangerous target internal object and outside topography characteristic has been realized, the inside condition of dangerous target of learning that can be more accurate, the work efficiency of security protection has been promoted.

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

In the drawings:

FIG. 1 is a schematic view of a first structure of the explosion venting apparatus of the present invention;

FIG. 2 is a schematic view of a second structure of the explosion-removing equipment of the present invention;

FIG. 3 is a schematic diagram of the control logic of the explosion-removing equipment of the present invention;

fig. 4 is a schematic view of the use flow of the explosive ordnance disposal device of the present invention.

In the figure: 1. a traveling device; 101. a vehicle body; 102. a wheel body; 103. a crawler belt; 2. an X-ray generator; 3. a detector; 4. a projection device; 5. an imaging device; 6. a target object; 7. a data transmission module; 8. a central control module; 801. an image database; 802. calibrating the position; 803. a location parameter; 804. measuring parameters; 9. a first transmission antenna; 10. a second transmission antenna; 11. the front camera.

It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate the inventive concept by those skilled in the art with reference to specific embodiments.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments, and the following embodiments are used for illustrating the present invention, but do not limit the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Fig. 1 to 4 show schematic diagrams of the explosion-venting apparatus of the present invention, wherein fig. 1 shows the overall structure of the explosion-venting apparatus, it can be seen that the walking device 1 is the main structure of the explosion-venting apparatus, the front end of the walking device 1 is provided with a support, the support is provided with the X-ray generator 2 and the detector 3, the support can be lifted through belt or gear transmission, thereby satisfying the measurement of target objects 6 with different heights, and simultaneously, the angle can be adjusted by moving the walking device 1, at the same time, the six-axis mechanical arm can grasp small objects and directly place the small objects between the X-ray generator 2 and the detector 3, in addition, the front end of the six-axis mechanical arm on the explosion-venting apparatus is provided with a front camera 11, so that an operator can remotely observe the condition of the target object 6, and simultaneously, the explosion-venting apparatus is connected with the second transmission antenna 10 of the central control module through the first transmission antenna 9, the connected network is preferably a 5G network, and meets the requirement of real-time transmission; fig. 2 is a view for more clearly showing the structure of the front end of the walking device 1, omitting the bracket, the X-ray generator 2 and the detector 3, wherein a projection device 4 and an imaging device 5 are arranged at the front end of the walking device 1, and a projection image emitted by the projection device 4 is emitted from the lower part of the detector 3 to realize the three-dimensional shape measurement of the target object 6; fig. 3 shows the control logic of the explosion-removing equipment, the central control module 8 is used as a control unit to control all electrical element units, and the explosion-removing work of the explosion-removing equipment can be realized by operating the central control module 8 by an operator; fig. 4 is a schematic view of the use flow of the explosion removing device of the present invention.

In one embodiment, as shown in fig. 1 to 4, the explosion removing apparatus of the present invention includes a traveling device 1, wherein six mechanical arms are further disposed on the traveling device 1; an X-ray generator 2 disposed at the front end of the traveling device 1; a detector 3 disposed on an X-ray emission path of the X-ray generator 2, specifically, a bracket device is disposed at a front portion of the traveling device 1, the X-ray generator 2 and the detector 3 are disposed on the bracket, a region for measuring a target object 6 is formed between the X-ray generator 2 and the detector 3, the bracket can be lifted, and after the traveling device 1 is moved to an effective measurement range, the target object 6 is located between the X-ray generator 2 and the detector 3, and then the bracket is dropped, so that measurement of a large object, such as a suitcase, a parcel, and other objects which are not convenient to move, is satisfied; in addition, the six-axis mechanical arm is used for clamping a light and small target object 6 and is placed between the X-ray generator 2 and the detector 3, so that repeated lifting of the support is avoided; further, the utility model discloses a set up X ray generator 2 with detector 3 improves work efficiency, and at the crime scene, many occasions such as anti-terrorism scene can use.

Meanwhile, the explosion-removing equipment of the utility model also comprises a projection device 4 which is arranged at the front end of the walking device 1 and is used for projecting a projection image to a target object 6; the imaging device 5 is arranged at the front end of the walking device 1 and used for receiving a projection image reflected by the target object 6; the data transmission module 7 is in communication connection with the X-ray generator 2, the detector 3, the projection device 4 and the imaging device 5; the central control module 8 is in communication connection with the data transmission module 7, and receives image information inside the target object 6, which is transmitted by the data transmission module 7 and processed by the detector 3, and projection image information reflected by the target object 6, which is received by the imaging device 5, in real time;

wherein, the central control module 8 comprises an image database 801 for recording dangerous goods and a calibration position 802 corresponding to the effective measurement range of the projection device 4 and the imaging device 5, specifically, the image database 801 is compared with the image information inside the shot target object 6, the image information matched with the dangerous goods is marked, meanwhile, the three-dimensional shape measurement is carried out on the target object 6, the external characteristics and the size of the target object 6 are obtained, further, the approximate size of the dangerous goods in the target object 6 can be judged, the working efficiency and the accuracy of explosion elimination are improved, further, the image database 801 and the calibration position 802 are utilized to automatically judge the shot picture transmitted by the camera of the explosion elimination robot or other auxiliary mechanisms (portable X-ray detector and the like), whether suspicious persons and suspicious dangerous goods exist on the shot picture is scanned, and the automatic picture frame marks the dangerous goods, displays the dangerous goods for the judgment of an operator, has clear images and obvious marker prompt, can measure the specific shape and size, has high judgment speed and high precision, and meets the requirement of rapid reaction of anti-terrorism.

Further, the calibration position 802 at least includes a position parameter 803 of the target object 6 in the effective measurement range, the position parameter 803 includes a position coordinate of the target object 6 in the effective measurement range, specifically, a distance between the target object 6 and the projection device 4 and the imaging device 5, and in the central control module 8, the position parameter 803 is marked, and the content of the mark includes a distance between the target object 6 and the projection device 4 and the imaging device 5, a size ratio of an outer dimension of the target parameter at different position coordinates or at the same position coordinate; the method further comprises a measurement parameter 804 for measuring the three-dimensional topography of the target object 6, wherein the measurement parameter 804 is a parameter of the projection device 4 and a parameter of the imaging device 5 which are required when the three-dimensional topography of the target object 6 is measured under the position parameter 803.

Meanwhile, the projection image projected by the projection device 4 to the target object 6 is a structured light pattern for performing three-dimensional topography measurement on the target object 6.

The traveling device 1 includes a vehicle body 101 provided as a main body of the traveling device 1; at least four wheels 102 symmetrically arranged on two sides of the vehicle body 101; crawler belts 103 symmetrically disposed on outer sides of the wheel bodies 102 on both sides of the vehicle body 101; the wheel bodies 102 are rubber tires which are symmetrically arranged on two sides of the vehicle body 101 and have the same size; the crawler belt 103 is a rubber belt arranged on the outer side of the wheel body 102, and therefore the ground gripping force is enhanced.

In one embodiment, a method of using an explosive ordnance disposal apparatus comprises the steps of

S1, moving the explosion-removing equipment to the effective measurement range of the projection device 4 and the imaging device 5 through the walking device 1;

s2, the projection device 4 projects the projection image to the target object 6, and obtains an image of the projection image reflected by the target object 6 at an imaging position on the imaging device 5;

s3, the central control module 8 compares the imaging position with the calibration position 802, and adjusts the distance between the explosive ordnance disposal device and the target object 6 through the walking device 1 until the imaging position is aligned with the calibration position 802;

s4, the central control module 8 calls the measurement parameters 804 and the position parameters 803 to measure the three-dimensional shape of the target object 6;

s5, acquiring image information inside the target object 6 through the X-ray generator 2 and the detector 3;

s6, the data transmission module 7 transmits the image information to the central control module 8, the central control module 8 compares the image information with the image database 801, and when the matching is successful, the image information which is successfully matched is marked;

and S7, coupling the three-dimensional topography of the target object 6 with the marked image information to obtain the internal parameters of the target object 6.

Further, the step S4 of measuring the three-dimensional shape of the target object 6 includes measuring the specific position coordinates of the target object 6 and the external dimensions and shape of the target object 6, recording the measured external dimensions and shape features of the target object 6 in the central control module 8, and coupling with the marked image information in the target object 6, so as to obtain the internal parameters of the target object 6, where the coupling is to input the external dimensions and shape features of the target object 6 into the X-ray image obtained from the target object 6, and by obtaining the image information, the corresponding proportional parameters can be obtained, so as to determine the specific dimensions and features of the marked image information.

Further, between the step S5 and the step S6, a step of

And S51, classifying the image information of the target object 6 based on an image color threshold, and segmenting the classified image information based on an edge extraction algorithm to realize the extraction of the target object 6.

Further, in order to obtain parameters of the target object 6 more accurately, the traveling apparatus 1 may adjust an angle or a shooting direction between the explosion-suppressing device and the target object 6, and re-perform steps S1 to S7.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: rather, the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and although the present invention has been disclosed with reference to the above preferred embodiment, but not to limit the present invention, any person skilled in the art can make some changes or modifications to equivalent embodiments without departing from the scope of the present invention, and any simple modification, equivalent change and modification made to the above embodiments by the technical spirit of the present invention still fall within the scope of the present invention.

Claims

1. The utility model provides an arrange and explode equipment which characterized in that: comprises that

A traveling device (1);

an X-ray generator (2) arranged at the front end of the walking device (1);

a detector (3) arranged on an X-ray emission path of the X-ray generator (2);

a projection device (4) which is arranged at the front end of the walking device (1) and is used for projecting a projection image to a target object (6);

the imaging device (5) is arranged at the front end of the walking device (1) and is used for receiving a projection image reflected by the target object (6);

the data transmission module (7) is in communication connection with the X-ray generator (2), the detector (3), the projection device (4) and the imaging device (5);

the central control module (8) is in communication connection with the data transmission module (7) and is used for receiving image information, transmitted by the data transmission module (7), of the interior of the target object (6) processed by the detector (3) and received by the imaging device (5), of a projection image reflected by the target object (6) in real time;

wherein the central control module (8) comprises an image database (801) for recording dangerous goods and calibration positions (802) corresponding to effective measurement ranges of the projection device (4) and the imaging device (5).

2. An explosion venting apparatus as defined in claim 1, wherein: the calibration position (802) at least comprises

A position parameter (803) of the target object (6) within an effective measurement range;

measuring parameters (804) for performing a three-dimensional topography measurement of the target object (6).

3. An explosive ordnance disposal device according to claim 1 or 2, wherein: the projection image projected by the projection device (4) to the target object (6) is a structured light pattern used for carrying out three-dimensional topography measurement on the target object (6).

4. An explosion venting apparatus as defined in claim 1, wherein: the walking device (1) comprises

A vehicle body (101) provided as a main body of the traveling device (1);

the wheels (102) are symmetrically arranged on two sides of the vehicle body (101);

and the crawler belts (103) are symmetrically arranged on the outer sides of the wheel bodies (102) on the two sides of the vehicle body (101).

5. An explosive ordnance disposal device according to claim 4, wherein: the wheel bodies (102) are rubber tires which are symmetrically arranged on two sides of the vehicle body (101) and have the same size.

6. An explosive ordnance disposal device according to claim 4, wherein: the crawler belt (103) is a rubber belt arranged on the outer side of the wheel body (102).